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// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.
package frc.robot;
import com.revrobotics.CANSparkMax;
import com.revrobotics.CANSparkLowLevel.MotorType;
import edu.wpi.first.wpilibj.GenericHID;
import edu.wpi.first.wpilibj.TimedRobot;
import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.CommandScheduler;
public class Robot extends TimedRobot {
private Command m_autonomousCommand;
private RobotContainer m_robotContainer;
@Override
public void robotInit() {
m_robotContainer = new RobotContainer();
}
@Override
public void robotPeriodic() {
CommandScheduler.getInstance().run();
}
@Override
public void disabledInit() {}
@Override
public void disabledPeriodic() {}
@Override
public void disabledExit() {}
@Override
public void autonomousInit() {
m_autonomousCommand = m_robotContainer.getAutonomousCommand();
if (m_autonomousCommand != null) {
m_autonomousCommand.schedule();
}
}
@Override
public void autonomousPeriodic() {}
@Override
public void autonomousExit() {}
@Override
public void teleopInit() {
if (m_autonomousCommand != null) {
m_autonomousCommand.cancel();
}
}
// GenericHID controller = Constants.controller;
// CANSparkMax shooter_top = new CANSparkMax(21, MotorType.kBrushless);
// CANSparkMax shooter_bottom = new CANSparkMax(22, MotorType.kBrushless);
// CANSparkMax intakeL = new CANSparkMax(31, MotorType.kBrushless);
// CANSparkMax intakeR = new CANSparkMax(32, MotorType.kBrushless);
@Override
public void teleopPeriodic()
{
// shooter_top.setInverted(true);
// shooter_bottom.setInverted(true);
// shooter_top.set(controller.getRawAxis(1));
// shooter_bottom.set(controller.getRawAxis(3));
// intakeL.set(controller.getRawAxis(1));
// intakeR.set(controller.getRawAxis(3));
}
@Override
public void teleopExit() {}
@Override
public void testInit() {
CommandScheduler.getInstance().cancelAll();
}
@Override
public void testPeriodic() {}
@Override
public void testExit() {}
}
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